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FastDeploy/fastdeploy/runtime/backends/paddle/ops/iou3d_nms_kernel.cu

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/*
3D IoU Calculation and Rotated NMS(modified from 2D NMS written by others)
Written by Shaoshuai Shi
All Rights Reserved 2019-2020.
*/
#include <stdio.h>
namespace fastdeploy {
namespace paddle_custom_ops {
// #define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0))
__host__ __device__ static inline int DIVUP(const int m, const int n)
{ return ((m) / (n) + ((m) % (n) > 0)); }
static const int THREADS_PER_BLOCK = 16;
static const int THREADS_PER_BLOCK_NMS = sizeof(int64_t) * 8;
#if defined(_WIN32)
#if defined(EPS)
#undef EPS
#endif
#define EPS 1e-8
#else
static const float EPS = 1e-8;
#endif
struct Point {
float x, y;
__device__ Point() {}
__device__ Point(double _x, double _y) { x = _x, y = _y; }
__device__ void set(float _x, float _y) {
x = _x;
y = _y;
}
__device__ Point operator+(const Point &b) const {
return Point(x + b.x, y + b.y);
}
__device__ Point operator-(const Point &b) const {
return Point(x - b.x, y - b.y);
}
};
__device__ inline float cross(const Point &a, const Point &b) {
return a.x * b.y - a.y * b.x;
}
__device__ inline float cross(const Point &p1, const Point &p2,
const Point &p0) {
return (p1.x - p0.x) * (p2.y - p0.y) - (p2.x - p0.x) * (p1.y - p0.y);
}
__device__ int check_rect_cross(const Point &p1, const Point &p2,
const Point &q1, const Point &q2) {
int ret = min(p1.x, p2.x) <= max(q1.x, q2.x) &&
min(q1.x, q2.x) <= max(p1.x, p2.x) &&
min(p1.y, p2.y) <= max(q1.y, q2.y) &&
min(q1.y, q2.y) <= max(p1.y, p2.y);
return ret;
}
__device__ inline int check_in_box2d(const float *box, const Point &p) {
// params: (7) [x, y, z, dx, dy, dz, heading]
const float MARGIN = 1e-2;
// Align with the setting of mmdet3d
// const float MARGIN = 1e-5;
float center_x = box[0], center_y = box[1];
float angle_cos = cos(-box[6]),
angle_sin =
sin(-box[6]); // rotate the point in the opposite direction of box
float rot_x = (p.x - center_x) * angle_cos + (p.y - center_y) * (-angle_sin);
float rot_y = (p.x - center_x) * angle_sin + (p.y - center_y) * angle_cos;
return (fabs(rot_x) < box[3] / 2 + MARGIN &&
fabs(rot_y) < box[4] / 2 + MARGIN);
// Align with the implement of mmdet3d
// float rot_x =
// (p.x - center_x) * angle_cos + (p.y - center_y) * angle_sin + center_x;
// float rot_y =
// -(p.x - center_x) * angle_sin + (p.y - center_y) * angle_cos +
// center_y;
// float x1 = center_x - box[3] / 2;
// float x2 = center_x + box[3] / 2;
// float y1 = center_y - box[4] / 2;
// float y2 = center_y + box[4] / 2;
// return (rot_x > x1 - MARGIN && rot_x < x2 + MARGIN && rot_y > y1 - MARGIN
// &&
// rot_y < y2 + MARGIN);
}
__device__ inline int intersection(const Point &p1, const Point &p0,
const Point &q1, const Point &q0,
Point &ans) {
// fast exclusion
if (check_rect_cross(p0, p1, q0, q1) == 0) return 0;
// check cross standing
float s1 = cross(q0, p1, p0);
float s2 = cross(p1, q1, p0);
float s3 = cross(p0, q1, q0);
float s4 = cross(q1, p1, q0);
if (!(s1 * s2 > 0 && s3 * s4 > 0)) return 0;
// calculate intersection of two lines
float s5 = cross(q1, p1, p0);
if (fabs(s5 - s1) > EPS) {
ans.x = (s5 * q0.x - s1 * q1.x) / (s5 - s1);
ans.y = (s5 * q0.y - s1 * q1.y) / (s5 - s1);
} else {
float a0 = p0.y - p1.y, b0 = p1.x - p0.x, c0 = p0.x * p1.y - p1.x * p0.y;
float a1 = q0.y - q1.y, b1 = q1.x - q0.x, c1 = q0.x * q1.y - q1.x * q0.y;
float D = a0 * b1 - a1 * b0;
ans.x = (b0 * c1 - b1 * c0) / D;
ans.y = (a1 * c0 - a0 * c1) / D;
}
return 1;
}
__device__ inline void rotate_around_center(const Point &center,
const float angle_cos,
const float angle_sin, Point &p) {
// float new_x = (p.x - center.x) * angle_cos + (p.y - center.y) *
// (-angle_sin) + center.x;
// float new_y = (p.x - center.x) * angle_sin + (p.y - center.y) * angle_cos +
// center.y;
// p.set(new_x, new_y);
// Aligh with the implement of mmdet3d
float new_x =
(p.x - center.x) * angle_cos + (p.y - center.y) * angle_sin + center.x;
float new_y =
-(p.x - center.x) * angle_sin + (p.y - center.y) * angle_cos + center.y;
p.set(new_x, new_y);
}
__device__ inline int point_cmp(const Point &a, const Point &b,
const Point &center) {
return atan2(a.y - center.y, a.x - center.x) >
atan2(b.y - center.y, b.x - center.x);
}
__device__ inline float box_overlap(const float *box_a, const float *box_b) {
// params box_a: [x, y, z, dx, dy, dz, heading]
// params box_b: [x, y, z, dx, dy, dz, heading]
float a_angle = box_a[6], b_angle = box_b[6];
float a_dx_half = box_a[3] / 2, b_dx_half = box_b[3] / 2,
a_dy_half = box_a[4] / 2, b_dy_half = box_b[4] / 2;
float a_x1 = box_a[0] - a_dx_half, a_y1 = box_a[1] - a_dy_half;
float a_x2 = box_a[0] + a_dx_half, a_y2 = box_a[1] + a_dy_half;
float b_x1 = box_b[0] - b_dx_half, b_y1 = box_b[1] - b_dy_half;
float b_x2 = box_b[0] + b_dx_half, b_y2 = box_b[1] + b_dy_half;
Point center_a(box_a[0], box_a[1]);
Point center_b(box_b[0], box_b[1]);
#ifdef DEBUG
printf(
"a: (%.3f, %.3f, %.3f, %.3f, %.3f), b: (%.3f, %.3f, %.3f, %.3f, %.3f)\n",
a_x1, a_y1, a_x2, a_y2, a_angle, b_x1, b_y1, b_x2, b_y2, b_angle);
printf("center a: (%.3f, %.3f), b: (%.3f, %.3f)\n", center_a.x, center_a.y,
center_b.x, center_b.y);
#endif
Point box_a_corners[5];
box_a_corners[0].set(a_x1, a_y1);
box_a_corners[1].set(a_x2, a_y1);
box_a_corners[2].set(a_x2, a_y2);
box_a_corners[3].set(a_x1, a_y2);
Point box_b_corners[5];
box_b_corners[0].set(b_x1, b_y1);
box_b_corners[1].set(b_x2, b_y1);
box_b_corners[2].set(b_x2, b_y2);
box_b_corners[3].set(b_x1, b_y2);
// get oriented corners
float a_angle_cos = cos(a_angle), a_angle_sin = sin(a_angle);
float b_angle_cos = cos(b_angle), b_angle_sin = sin(b_angle);
for (int k = 0; k < 4; k++) {
#ifdef DEBUG
printf("before corner %d: a(%.3f, %.3f), b(%.3f, %.3f) \n", k,
box_a_corners[k].x, box_a_corners[k].y, box_b_corners[k].x,
box_b_corners[k].y);
#endif
rotate_around_center(center_a, a_angle_cos, a_angle_sin, box_a_corners[k]);
rotate_around_center(center_b, b_angle_cos, b_angle_sin, box_b_corners[k]);
#ifdef DEBUG
printf("corner %d: a(%.3f, %.3f), b(%.3f, %.3f) \n", k, box_a_corners[k].x,
box_a_corners[k].y, box_b_corners[k].x, box_b_corners[k].y);
#endif
}
box_a_corners[4] = box_a_corners[0];
box_b_corners[4] = box_b_corners[0];
// get intersection of lines
Point cross_points[16];
Point poly_center;
int cnt = 0, flag = 0;
poly_center.set(0, 0);
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
flag = intersection(box_a_corners[i + 1], box_a_corners[i],
box_b_corners[j + 1], box_b_corners[j],
cross_points[cnt]);
if (flag) {
poly_center = poly_center + cross_points[cnt];
cnt++;
#ifdef DEBUG
printf(
"Cross points (%.3f, %.3f): a(%.3f, %.3f)->(%.3f, %.3f), b(%.3f, "
"%.3f)->(%.3f, %.3f) \n",
cross_points[cnt - 1].x, cross_points[cnt - 1].y,
box_a_corners[i].x, box_a_corners[i].y, box_a_corners[i + 1].x,
box_a_corners[i + 1].y, box_b_corners[i].x, box_b_corners[i].y,
box_b_corners[i + 1].x, box_b_corners[i + 1].y);
#endif
}
}
}
// check corners
for (int k = 0; k < 4; k++) {
if (check_in_box2d(box_a, box_b_corners[k])) {
poly_center = poly_center + box_b_corners[k];
cross_points[cnt] = box_b_corners[k];
cnt++;
#ifdef DEBUG
printf("b corners in a: corner_b(%.3f, %.3f)", cross_points[cnt - 1].x,
cross_points[cnt - 1].y);
#endif
}
if (check_in_box2d(box_b, box_a_corners[k])) {
poly_center = poly_center + box_a_corners[k];
cross_points[cnt] = box_a_corners[k];
cnt++;
#ifdef DEBUG
printf("a corners in b: corner_a(%.3f, %.3f)", cross_points[cnt - 1].x,
cross_points[cnt - 1].y);
#endif
}
}
poly_center.x /= cnt;
poly_center.y /= cnt;
// sort the points of polygon
Point temp;
for (int j = 0; j < cnt - 1; j++) {
for (int i = 0; i < cnt - j - 1; i++) {
if (point_cmp(cross_points[i], cross_points[i + 1], poly_center)) {
temp = cross_points[i];
cross_points[i] = cross_points[i + 1];
cross_points[i + 1] = temp;
}
}
}
#ifdef DEBUG
printf("cnt=%d\n", cnt);
for (int i = 0; i < cnt; i++) {
printf("All cross point %d: (%.3f, %.3f)\n", i, cross_points[i].x,
cross_points[i].y);
}
#endif
// get the overlap areas
float area = 0;
for (int k = 0; k < cnt - 1; k++) {
area += cross(cross_points[k] - cross_points[0],
cross_points[k + 1] - cross_points[0]);
}
return fabs(area) / 2.0;
}
__device__ inline float iou_bev(const float *box_a, const float *box_b) {
// params box_a: [x, y, z, dx, dy, dz, heading]
// params box_b: [x, y, z, dx, dy, dz, heading]
float sa = box_a[3] * box_a[4];
float sb = box_b[3] * box_b[4];
float s_overlap = box_overlap(box_a, box_b);
return s_overlap / fmaxf(sa + sb - s_overlap, EPS);
}
__global__ void boxes_overlap_kernel(const int num_a, const float *boxes_a,
const int num_b, const float *boxes_b,
float *ans_overlap) {
// params boxes_a: (N, 7) [x, y, z, dx, dy, dz, heading]
// params boxes_b: (M, 7) [x, y, z, dx, dy, dz, heading]
const int a_idx = blockIdx.y * THREADS_PER_BLOCK + threadIdx.y;
const int b_idx = blockIdx.x * THREADS_PER_BLOCK + threadIdx.x;
if (a_idx >= num_a || b_idx >= num_b) {
return;
}
const float *cur_box_a = boxes_a + a_idx * 7;
const float *cur_box_b = boxes_b + b_idx * 7;
float s_overlap = box_overlap(cur_box_a, cur_box_b);
ans_overlap[a_idx * num_b + b_idx] = s_overlap;
}
__global__ void boxes_iou_bev_kernel(const int num_a, const float *boxes_a,
const int num_b, const float *boxes_b,
float *ans_iou) {
// params boxes_a: (N, 7) [x, y, z, dx, dy, dz, heading]
// params boxes_b: (M, 7) [x, y, z, dx, dy, dz, heading]
const int a_idx = blockIdx.y * THREADS_PER_BLOCK + threadIdx.y;
const int b_idx = blockIdx.x * THREADS_PER_BLOCK + threadIdx.x;
if (a_idx >= num_a || b_idx >= num_b) {
return;
}
const float *cur_box_a = boxes_a + a_idx * 7;
const float *cur_box_b = boxes_b + b_idx * 7;
float cur_iou_bev = iou_bev(cur_box_a, cur_box_b);
ans_iou[a_idx * num_b + b_idx] = cur_iou_bev;
}
__global__ void nms_kernel(const int boxes_num, const float nms_overlap_thresh,
const float *boxes, unsigned long long *mask) {
// params: boxes (N, 7) [x, y, z, dx, dy, dz, heading]
// params: mask (N, N/THREADS_PER_BLOCK_NMS)
const int row_start = blockIdx.y;
const int col_start = blockIdx.x;
// if (row_start > col_start) return;
const int row_size = fminf(boxes_num - row_start * THREADS_PER_BLOCK_NMS,
THREADS_PER_BLOCK_NMS);
const int col_size = fminf(boxes_num - col_start * THREADS_PER_BLOCK_NMS,
THREADS_PER_BLOCK_NMS);
__shared__ float block_boxes[THREADS_PER_BLOCK_NMS * 7];
if (threadIdx.x < col_size) {
block_boxes[threadIdx.x * 7 + 0] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 0];
block_boxes[threadIdx.x * 7 + 1] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 1];
block_boxes[threadIdx.x * 7 + 2] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 2];
block_boxes[threadIdx.x * 7 + 3] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 3];
block_boxes[threadIdx.x * 7 + 4] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 4];
block_boxes[threadIdx.x * 7 + 5] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 5];
block_boxes[threadIdx.x * 7 + 6] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 6];
}
__syncthreads();
if (threadIdx.x < row_size) {
const int cur_box_idx = THREADS_PER_BLOCK_NMS * row_start + threadIdx.x;
const float *cur_box = boxes + cur_box_idx * 7;
int i = 0;
unsigned long long t = 0;
int start = 0;
if (row_start == col_start) {
start = threadIdx.x + 1;
}
for (i = start; i < col_size; i++) {
if (iou_bev(cur_box, block_boxes + i * 7) > nms_overlap_thresh) {
t |= 1ULL << i;
}
}
int col_blocks = DIVUP(boxes_num, THREADS_PER_BLOCK_NMS);
mask[cur_box_idx * col_blocks + col_start] = t;
}
}
__device__ inline float iou_normal(float const *const a, float const *const b) {
// params: a: [x, y, z, dx, dy, dz, heading]
// params: b: [x, y, z, dx, dy, dz, heading]
float left = fmaxf(a[0] - a[3] / 2, b[0] - b[3] / 2),
right = fminf(a[0] + a[3] / 2, b[0] + b[3] / 2);
float top = fmaxf(a[1] - a[4] / 2, b[1] - b[4] / 2),
bottom = fminf(a[1] + a[4] / 2, b[1] + b[4] / 2);
float width = fmaxf(right - left, 0.f), height = fmaxf(bottom - top, 0.f);
float interS = width * height;
float Sa = a[3] * a[4];
float Sb = b[3] * b[4];
return interS / fmaxf(Sa + Sb - interS, EPS);
}
__global__ void nms_normal_kernel(const int boxes_num,
const float nms_overlap_thresh,
const float *boxes,
unsigned long long *mask) {
// params: boxes (N, 7) [x, y, z, dx, dy, dz, heading]
// params: mask (N, N/THREADS_PER_BLOCK_NMS)
const int row_start = blockIdx.y;
const int col_start = blockIdx.x;
// if (row_start > col_start) return;
const int row_size = fminf(boxes_num - row_start * THREADS_PER_BLOCK_NMS,
THREADS_PER_BLOCK_NMS);
const int col_size = fminf(boxes_num - col_start * THREADS_PER_BLOCK_NMS,
THREADS_PER_BLOCK_NMS);
__shared__ float block_boxes[THREADS_PER_BLOCK_NMS * 7];
if (threadIdx.x < col_size) {
block_boxes[threadIdx.x * 7 + 0] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 0];
block_boxes[threadIdx.x * 7 + 1] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 1];
block_boxes[threadIdx.x * 7 + 2] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 2];
block_boxes[threadIdx.x * 7 + 3] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 3];
block_boxes[threadIdx.x * 7 + 4] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 4];
block_boxes[threadIdx.x * 7 + 5] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 5];
block_boxes[threadIdx.x * 7 + 6] =
boxes[(THREADS_PER_BLOCK_NMS * col_start + threadIdx.x) * 7 + 6];
}
__syncthreads();
if (threadIdx.x < row_size) {
const int cur_box_idx = THREADS_PER_BLOCK_NMS * row_start + threadIdx.x;
const float *cur_box = boxes + cur_box_idx * 7;
int i = 0;
unsigned long long t = 0;
int start = 0;
if (row_start == col_start) {
start = threadIdx.x + 1;
}
for (i = start; i < col_size; i++) {
if (iou_normal(cur_box, block_boxes + i * 7) > nms_overlap_thresh) {
t |= 1ULL << i;
}
}
int col_blocks = DIVUP(boxes_num, THREADS_PER_BLOCK_NMS);
mask[cur_box_idx * col_blocks + col_start] = t;
}
}
void boxesoverlapLauncher(const int num_a, const float *boxes_a,
const int num_b, const float *boxes_b,
float *ans_overlap) {
dim3 blocks(
DIVUP(num_b, THREADS_PER_BLOCK),
DIVUP(num_a, THREADS_PER_BLOCK)); // blockIdx.x(col), blockIdx.y(row)
dim3 threads(THREADS_PER_BLOCK, THREADS_PER_BLOCK);
boxes_overlap_kernel<<<blocks, threads>>>(num_a, boxes_a, num_b, boxes_b,
ans_overlap);
#ifdef DEBUG
cudaDeviceSynchronize(); // for using printf in kernel function
#endif
}
void boxesioubevLauncher(const int num_a, const float *boxes_a, const int num_b,
const float *boxes_b, float *ans_iou) {
dim3 blocks(
DIVUP(num_b, THREADS_PER_BLOCK),
DIVUP(num_a, THREADS_PER_BLOCK)); // blockIdx.x(col), blockIdx.y(row)
dim3 threads(THREADS_PER_BLOCK, THREADS_PER_BLOCK);
boxes_iou_bev_kernel<<<blocks, threads>>>(num_a, boxes_a, num_b, boxes_b,
ans_iou);
#ifdef DEBUG
cudaDeviceSynchronize(); // for using printf in kernel function
#endif
}
void nmsLauncher(const float *boxes, unsigned long long *mask, int boxes_num,
float nms_overlap_thresh) {
dim3 blocks(DIVUP(boxes_num, THREADS_PER_BLOCK_NMS),
DIVUP(boxes_num, THREADS_PER_BLOCK_NMS));
dim3 threads(THREADS_PER_BLOCK_NMS);
nms_kernel<<<blocks, threads>>>(boxes_num, nms_overlap_thresh, boxes, mask);
}
void nmsNormalLauncher(const float *boxes, unsigned long long *mask,
int boxes_num, float nms_overlap_thresh) {
dim3 blocks(DIVUP(boxes_num, THREADS_PER_BLOCK_NMS),
DIVUP(boxes_num, THREADS_PER_BLOCK_NMS));
dim3 threads(THREADS_PER_BLOCK_NMS);
nms_normal_kernel<<<blocks, threads>>>(boxes_num, nms_overlap_thresh, boxes,
mask);
}
__global__ void nms_kernel_centerpoint(const int num_bboxes,
const int num_bboxes_for_nms,
const float nms_overlap_thresh,
const int decode_bboxes_dims,
const float *bboxes, const int *index,
const int64_t *sorted_index,
int64_t *mask) {
// params: boxes (N, 7) [x, y, z, dx, dy, dz, heading]
// params: mask (N, N/THREADS_PER_BLOCK_NMS)
const int row_start = blockIdx.y;
const int col_start = blockIdx.x;
// if (row_start > col_start) return;
const int row_size =
fminf(num_bboxes_for_nms - row_start * THREADS_PER_BLOCK_NMS,
THREADS_PER_BLOCK_NMS);
const int col_size =
fminf(num_bboxes_for_nms - col_start * THREADS_PER_BLOCK_NMS,
THREADS_PER_BLOCK_NMS);
__shared__ float block_boxes[THREADS_PER_BLOCK_NMS * 7];
if (threadIdx.x < col_size) {
int box_idx =
index[sorted_index[THREADS_PER_BLOCK_NMS * col_start + threadIdx.x]];
block_boxes[threadIdx.x * 7 + 0] = bboxes[box_idx * decode_bboxes_dims];
block_boxes[threadIdx.x * 7 + 1] = bboxes[box_idx * decode_bboxes_dims + 1];
block_boxes[threadIdx.x * 7 + 2] = bboxes[box_idx * decode_bboxes_dims + 2];
block_boxes[threadIdx.x * 7 + 3] = bboxes[box_idx * decode_bboxes_dims + 4];
block_boxes[threadIdx.x * 7 + 4] = bboxes[box_idx * decode_bboxes_dims + 3];
block_boxes[threadIdx.x * 7 + 5] = bboxes[box_idx * decode_bboxes_dims + 5];
block_boxes[threadIdx.x * 7 + 6] =
-bboxes[box_idx * decode_bboxes_dims + decode_bboxes_dims - 1] -
3.141592653589793 / 2;
}
__syncthreads();
if (threadIdx.x < row_size) {
const int cur_box_idx = THREADS_PER_BLOCK_NMS * row_start + threadIdx.x;
const int act_box_idx = index[sorted_index[cur_box_idx]];
float cur_box[7];
cur_box[0] = bboxes[act_box_idx * decode_bboxes_dims];
cur_box[1] = bboxes[act_box_idx * decode_bboxes_dims + 1];
cur_box[2] = bboxes[act_box_idx * decode_bboxes_dims + 2];
cur_box[3] = bboxes[act_box_idx * decode_bboxes_dims + 4];
cur_box[4] = bboxes[act_box_idx * decode_bboxes_dims + 3];
cur_box[5] = bboxes[act_box_idx * decode_bboxes_dims + 5];
cur_box[6] =
-bboxes[act_box_idx * decode_bboxes_dims + decode_bboxes_dims - 1] -
3.141592653589793 / 2;
int i = 0;
int64_t t = 0;
int start = 0;
if (row_start == col_start) {
start = threadIdx.x + 1;
}
for (i = start; i < col_size; i++) {
if (iou_bev(cur_box, block_boxes + i * 7) > nms_overlap_thresh) {
t |= 1ULL << i;
}
}
int col_blocks = DIVUP(num_bboxes_for_nms, THREADS_PER_BLOCK_NMS);
mask[cur_box_idx * col_blocks + col_start] = t;
}
}
void NmsLauncher(const cudaStream_t &stream, const float *bboxes,
const int *index, const int64_t *sorted_index,
const int num_bboxes, const int num_bboxes_for_nms,
const float nms_overlap_thresh, const int decode_bboxes_dims,
int64_t *mask) {
dim3 blocks(DIVUP(num_bboxes_for_nms, THREADS_PER_BLOCK_NMS),
DIVUP(num_bboxes_for_nms, THREADS_PER_BLOCK_NMS));
dim3 threads(THREADS_PER_BLOCK_NMS);
nms_kernel_centerpoint<<<blocks, threads, 0, stream>>>(
num_bboxes, num_bboxes_for_nms, nms_overlap_thresh, decode_bboxes_dims,
bboxes, index, sorted_index, mask);
}
} // namespace fastdeploy
} // namespace paddle_custom_ops
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